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<div class="title">obj_rec_ransac.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  </span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_OBJ_REC_RANSAC_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_OBJ_REC_RANSAC_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/hypothesis.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/model_library.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/rigid_transform_space.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/orr_octree.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/orr_octree_zprojection.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/simple_octree.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/trimmed_icp.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/orr_graph.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/auxiliary.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/ransac_based/bvh.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation_svd.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/correspondence.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#include &lt;cmath&gt;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="preprocessor">#define OBJ_REC_RANSAC_VERBOSE</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html">   86</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html">ObjRecRANSAC</a></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    {</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">ModelLibrary::PointCloudIn</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">ModelLibrary::PointCloudN</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH&lt;Hypothesis*&gt;</a> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVHH</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html">  100</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html">Output</a></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;        {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html">Output</a> (<span class="keyword">const</span> std::string&amp; object_name, <span class="keyword">const</span> <span class="keywordtype">float</span> rigid_transform[12], <span class="keywordtype">float</span> match_confidence, <span class="keywordtype">void</span>* user_data) :</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;              object_name_ (object_name),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;              match_confidence_ (match_confidence),</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;              user_data_ (user_data)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;              memcpy(this-&gt;rigid_transform_, rigid_transform, 12*<span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;            }</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html">Output</a> (){}</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            std::string object_name_;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;            <span class="keywordtype">float</span> rigid_transform_[12];</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;            <span class="keywordtype">float</span> match_confidence_;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;            <span class="keywordtype">void</span>* user_data_;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        };</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair.html">  119</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair.html">OrientedPointPair</a></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        {</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            <span class="keyword">public</span>:</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;              <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair.html">OrientedPointPair</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *p1, <span class="keyword">const</span> <span class="keywordtype">float</span> *n1, <span class="keyword">const</span> <span class="keywordtype">float</span> *p2, <span class="keyword">const</span> <span class="keywordtype">float</span> *n2)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;              : p1_ (p1), n1_ (n1), p2_ (p2), n2_ (n2)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;              {</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;              }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;              <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair.html">OrientedPointPair</a> (){}</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            <span class="keyword">public</span>:</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">float</span> *p1_, *n1_, *p2_, *n2_;</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        };</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator.html">  133</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator.html">HypothesisCreator</a></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator.html">HypothesisCreator</a> (){}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;            <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator.html">HypothesisCreator</a> (){}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_hypothesis.html">Hypothesis</a>* create (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree_1_1_node.html">SimpleOctree&lt;Hypothesis, HypothesisCreator, float&gt;::Node</a>* )<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_hypothesis.html">Hypothesis</a> ();}</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        };</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">SimpleOctree&lt;Hypothesis, HypothesisCreator, float&gt;</a> <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">HypothesisOctree</a>;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ae1a4249f8278de41a34f74b950996986">  154</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ae1a4249f8278de41a34f74b950996986">ObjRecRANSAC</a> (<span class="keywordtype">float</span> pair_width, <span class="keywordtype">float</span> voxel_size);</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html">ObjRecRANSAC</a> ()</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;          this-&gt;clear ();</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;          this-&gt;clearTestData ();</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a70615881d2c09ecf0d0d3b4c4c5bfb7f">  163</a></span>&#160;        <span class="keyword">inline</span> <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a70615881d2c09ecf0d0d3b4c4c5bfb7f">clear</a>()</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        {</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;          model_library_.removeAllModels ();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;          scene_octree_.clear ();</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;          scene_octree_proj_.clear ();</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          sampled_oriented_point_pairs_.clear ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;          transform_space_.clear ();</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;          scene_octree_points_.reset ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9aa6b8506fbdd739ac1d25675f7053eb">  178</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9aa6b8506fbdd739ac1d25675f7053eb">setMaxCoplanarityAngleDegrees</a> (<span class="keywordtype">float</span> max_coplanarity_angle_degrees)</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        {</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;          max_coplanarity_angle_ = max_coplanarity_angle_degrees*AUX_DEG_TO_RADIANS;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;          model_library_.setMaxCoplanarityAngleDegrees (max_coplanarity_angle_degrees);</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        }</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        setSceneBoundsEnlargementFactor (<span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;          scene_bounds_enlargement_factor_ = value;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        }</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ad9e4f37a6cd8ac28d03da749d7668b99">  192</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ad9e4f37a6cd8ac28d03da749d7668b99">ignoreCoplanarPointPairsOn</a> ()</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;          ignore_coplanar_opps_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;          model_library_.ignoreCoplanarPointPairsOn ();</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a2b709f273c354740177ac81dcad159dc">  200</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a2b709f273c354740177ac81dcad159dc">ignoreCoplanarPointPairsOff</a> ()</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          ignore_coplanar_opps_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          model_library_.ignoreCoplanarPointPairsOff ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        icpHypothesesRefinementOn ()</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        {</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          do_icp_hypotheses_refinement_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        }</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        icpHypothesesRefinementOff ()</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;          do_icp_hypotheses_refinement_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00230"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a8b48737af6ab2551acdacdf54c280e5e">  230</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a8b48737af6ab2551acdacdf54c280e5e">addModel</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; points, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>&amp; normals, <span class="keyword">const</span> std::string&amp; object_name, <span class="keywordtype">void</span>* user_data = NULL)</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          <span class="keywordflow">return</span> (model_library_.addModel (points, normals, object_name, frac_of_points_for_icp_refinement_, user_data));</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00244"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9ea4a26d7da22856211573917b07d47c">  244</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9ea4a26d7da22856211573917b07d47c">recognize</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudIn</a>&amp; scene, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>&amp; normals, std::list&lt;ObjRecRANSAC::Output&gt;&amp; recognized_objects, <span class="keywordtype">double</span> success_probability = 0.99);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;        enterTestModeSampleOPP ()</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;        {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          rec_mode_ = ObjRecRANSAC::SAMPLE_OPP;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;        }</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;        enterTestModeTestHypotheses ()</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;          rec_mode_ = ObjRecRANSAC::TEST_HYPOTHESES;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160; </div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;        leaveTestMode ()</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          rec_mode_ = ObjRecRANSAC::FULL_RECOGNITION;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::list&lt;ObjRecRANSAC::OrientedPointPair&gt;&amp;</div>
<div class="line"><a name="l00267"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a78ca43f2523164b0121352ee40146b53">  267</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a78ca43f2523164b0121352ee40146b53">getSampledOrientedPointPairs</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          <span class="keywordflow">return</span> (sampled_oriented_point_pairs_);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;Hypothesis&gt;&amp;</div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9be19751af8d03294763ebdbc68a6e3e">  275</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9be19751af8d03294763ebdbc68a6e3e">getAcceptedHypotheses</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;          <span class="keywordflow">return</span> (accepted_hypotheses_);</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;        }</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a102f82070827aca45838613fb9fc8b12">  283</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a102f82070827aca45838613fb9fc8b12">getAcceptedHypotheses</a> (std::vector&lt;Hypothesis&gt;&amp; out)<span class="keyword"> const</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          out = accepted_hypotheses_;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;        }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::ModelLibrary::HashTable</a>&amp;</div>
<div class="line"><a name="l00290"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba5a8204aa6114ecd25670cc27c43bba">  290</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba5a8204aa6114ecd25670cc27c43bba">getHashTable</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;          <span class="keywordflow">return</span> (model_library_.getHashTable ());</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;        }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_model_library.html">ModelLibrary</a>&amp;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;        getModelLibrary ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;          <span class="keywordflow">return</span> (model_library_);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> ModelLibrary::Model*</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;        getModel (<span class="keyword">const</span> std::string&amp; name)<span class="keyword"> const</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          <span class="keywordflow">return</span> (model_library_.getModel (name));</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        }</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> ORROctree&amp;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        getSceneOctree ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;          <span class="keywordflow">return</span> (scene_octree_);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        <span class="keyword">inline</span> RigidTransformSpace&amp;</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;        getRigidTransformSpace ()</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        {</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;          <span class="keywordflow">return</span> (transform_space_);</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;        }</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        getPairWidth ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">return</span> pair_width_;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        }</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160; </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;        <span class="keyword">enum</span> Recognition_Mode {SAMPLE_OPP, TEST_HYPOTHESES, <span class="comment">/*BUILD_CONFLICT_GRAPH,*/</span> FULL_RECOGNITION};</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span>ModelLibrary;</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160; </div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        computeNumberOfIterations (<span class="keywordtype">double</span> success_probability)<span class="keyword"> const</span></div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;          <span class="comment">// &#39;p_obj&#39; is the probability that given that the first sample point belongs to an object,</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;          <span class="comment">// the second sample point will belong to the same object</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> p_obj = 0.25f;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;          <span class="comment">// old version: p = p_obj*relative_obj_size_*fraction_of_pairs_in_hash_table_;</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> p = p_obj*relative_obj_size_;</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          <span class="keywordflow">if</span> ( 1.0 - p &lt;= 0.0 )</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;            <span class="keywordflow">return</span> 1;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;          <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (log (1.0-success_probability)/log (1.0-p) + 1.0);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;        }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;        clearTestData ()</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;        {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;          sampled_oriented_point_pairs_.clear ();</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          accepted_hypotheses_.clear ();</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          transform_space_.clear ();</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        }</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        sampleOrientedPointPairs (<span class="keywordtype">int</span> num_iterations, <span class="keyword">const</span> std::vector&lt;ORROctree::Node*&gt;&amp; full_scene_leaves, std::list&lt;OrientedPointPair&gt;&amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;        generateHypotheses (<span class="keyword">const</span> std::list&lt;OrientedPointPair&gt;&amp; pairs, std::list&lt;HypothesisBase&gt;&amp; out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00362"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a5ca81e485704d73932f91374e60eaf44">  362</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a5ca81e485704d73932f91374e60eaf44">groupHypotheses</a>(std::list&lt;HypothesisBase&gt;&amp; hypotheses, <span class="keywordtype">int</span> num_hypotheses, <a class="code" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">RigidTransformSpace</a>&amp; transform_space,</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">HypothesisOctree</a>&amp; grouped_hypotheses) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160; </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        testHypothesis (<a class="code" href="classpcl_1_1recognition_1_1_hypothesis.html">Hypothesis</a>* hypothesis, <span class="keywordtype">int</span>&amp; match, <span class="keywordtype">int</span>&amp; penalty) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        testHypothesisNormalBased (<a class="code" href="classpcl_1_1recognition_1_1_hypothesis.html">Hypothesis</a>* hypothesis, <span class="keywordtype">float</span>&amp; match) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        buildGraphOfCloseHypotheses (<a class="code" href="classpcl_1_1recognition_1_1_simple_octree.html">HypothesisOctree</a>&amp; hypotheses, <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_graph.html">ORRGraph&lt;Hypothesis&gt;</a>&amp; graph) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        filterGraphOfCloseHypotheses (<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_graph.html">ORRGraph&lt;Hypothesis&gt;</a>&amp; graph, std::vector&lt;Hypothesis&gt;&amp; out) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160; </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        buildGraphOfConflictingHypotheses (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVHH</a>&amp; bvh, <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_graph.html">ORRGraph&lt;Hypothesis*&gt;</a>&amp; graph) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        filterGraphOfConflictingHypotheses (<a class="code" href="classpcl_1_1recognition_1_1_o_r_r_graph.html">ORRGraph&lt;Hypothesis*&gt;</a>&amp; graph, std::list&lt;ObjRecRANSAC::Output&gt;&amp; recognized_objects) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00389"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba2f1dabfef03b560ae9e8c80f2ea9f1">  389</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba2f1dabfef03b560ae9e8c80f2ea9f1">computeRigidTransform</a>(</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> *a1, <span class="keyword">const</span> <span class="keywordtype">float</span> *a1_n, <span class="keyword">const</span> <span class="keywordtype">float</span> *b1, <span class="keyword">const</span> <span class="keywordtype">float</span>* b1_n,</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> *a2, <span class="keyword">const</span> <span class="keywordtype">float</span> *a2_n, <span class="keyword">const</span> <span class="keywordtype">float</span> *b2, <span class="keyword">const</span> <span class="keywordtype">float</span>* b2_n,</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;          <span class="keywordtype">float</span>* rigid_transform)<span class="keyword"> const</span></div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;          <span class="comment">// Some local variables</span></div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;          <span class="keywordtype">float</span> o1[3], o2[3], x1[3], x2[3], y1[3], y2[3], z1[3], z2[3], tmp1[3], tmp2[3], Ro1[3], invFrame1[3][3];</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;          <span class="comment">// Compute the origins</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          o1[0] = 0.5f*(a1[0] + b1[0]);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          o1[1] = 0.5f*(a1[1] + b1[1]);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          o1[2] = 0.5f*(a1[2] + b1[2]);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          o2[0] = 0.5f*(a2[0] + b2[0]);</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;          o2[1] = 0.5f*(a2[1] + b2[1]);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          o2[2] = 0.5f*(a2[2] + b2[2]);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;          <span class="comment">// Compute the x-axes</span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          aux::diff3 (b1, a1, x1); aux::normalize3 (x1);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;          aux::diff3 (b2, a2, x2); aux::normalize3 (x2);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;          <span class="comment">// Compute the y-axes. First y-axis</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;          aux::projectOnPlane3 (a1_n, x1, tmp1); aux::normalize3 (tmp1);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;          aux::projectOnPlane3 (b1_n, x1, tmp2); aux::normalize3 (tmp2);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;          aux::sum3 (tmp1, tmp2, y1); aux::normalize3 (y1);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;          <span class="comment">// Second y-axis</span></div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          aux::projectOnPlane3 (a2_n, x2, tmp1); aux::normalize3 (tmp1);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          aux::projectOnPlane3 (b2_n, x2, tmp2); aux::normalize3 (tmp2);</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          aux::sum3 (tmp1, tmp2, y2); aux::normalize3 (y2);</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;          <span class="comment">// Compute the z-axes</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;          aux::cross3 (x1, y1, z1);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;          aux::cross3 (x2, y2, z2);</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          <span class="comment">// 1. Invert the matrix [x1|y1|z1] (note that x1, y1, and z1 are treated as columns!)</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          invFrame1[0][0] = x1[0]; invFrame1[0][1] = x1[1]; invFrame1[0][2] = x1[2];</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          invFrame1[1][0] = y1[0]; invFrame1[1][1] = y1[1]; invFrame1[1][2] = y1[2];</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          invFrame1[2][0] = z1[0]; invFrame1[2][1] = z1[1]; invFrame1[2][2] = z1[2];</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;          <span class="comment">// 2. Compute the desired rotation as rigid_transform = [x2|y2|z2]*invFrame1</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;          aux::mult3x3 (x2, y2, z2, invFrame1, rigid_transform);</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          <span class="comment">// Construct the translation which is the difference between the rotated o1 and o2</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          aux::mult3x3 (rigid_transform, o1, Ro1);</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          rigid_transform[9]  = o2[0] - Ro1[0];</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;          rigid_transform[10] = o2[1] - Ro1[1];</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;          rigid_transform[11] = o2[2] - Ro1[2];</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        }</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160; </div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;        <span class="keyword">static</span> <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00442"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a7ecbc126044353a48491ed488a87ca52">  442</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a7ecbc126044353a48491ed488a87ca52">compute_oriented_point_pair_signature</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> *p1, <span class="keyword">const</span> <span class="keywordtype">float</span> *n1, <span class="keyword">const</span> <span class="keywordtype">float</span> *p2, <span class="keyword">const</span> <span class="keywordtype">float</span> *n2, <span class="keywordtype">float</span> signature[3])</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;        {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;          <span class="comment">// Get the line from p1 to p2</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;          <span class="keywordtype">float</span> cl[3] = {p2[0] - p1[0], p2[1] - p1[1], p2[2] - p1[2]};</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;          aux::normalize3 (cl);</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;          signature[0] = std::acos (aux::clamp (aux::dot3 (n1,cl), -1.0f, 1.0f)); cl[0] = -cl[0]; cl[1] = -cl[1]; cl[2] = -cl[2];</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;          signature[1] = std::acos (aux::clamp (aux::dot3 (n2,cl), -1.0f, 1.0f));</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;          signature[2] = std::acos (aux::clamp (aux::dot3 (n1,n2), -1.0f, 1.0f));</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        }</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="comment">// Parameters</span></div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        <span class="keywordtype">float</span> pair_width_;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <span class="keywordtype">float</span> voxel_size_;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;        <span class="keywordtype">float</span> position_discretization_;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        <span class="keywordtype">float</span> rotation_discretization_;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;        <span class="keywordtype">float</span> abs_zdist_thresh_;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;        <span class="keywordtype">float</span> relative_obj_size_;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;        <span class="keywordtype">float</span> visibility_;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordtype">float</span> relative_num_of_illegal_pts_;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        <span class="keywordtype">float</span> intersection_fraction_;</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        <span class="keywordtype">float</span> max_coplanarity_angle_;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;        <span class="keywordtype">float</span> scene_bounds_enlargement_factor_;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;        <span class="keywordtype">bool</span> ignore_coplanar_opps_;</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        <span class="keywordtype">float</span> frac_of_points_for_icp_refinement_;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        <span class="keywordtype">bool</span> do_icp_hypotheses_refinement_;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_model_library.html">ModelLibrary</a> model_library_;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree.html">ORROctree</a> scene_octree_;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_o_r_r_octree_z_projection.html">ORROctreeZProjection</a> scene_octree_proj_;</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_rigid_transform_space.html">RigidTransformSpace</a> transform_space_;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_trimmed_i_c_p.html">TrimmedICP&lt;pcl::PointXYZ, float&gt;</a> trimmed_icp_;</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;        PointCloudIn::Ptr scene_octree_points_;</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160; </div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        std::list&lt;OrientedPointPair&gt; sampled_oriented_point_pairs_;</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;        std::vector&lt;Hypothesis&gt; accepted_hypotheses_;</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;        Recognition_Mode rec_mode_;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    };</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_RECOGNITION_OBJ_REC_RANSAC_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::PointXYZ &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html">pcl::recognition::BVH</a></div><div class="ttdoc">This class is an implementation of bounding volume hierarchies. Use the build method to construct the...</div><div class="ttdef"><b>Definition:</b> bvh.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_hypothesis_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_hypothesis.html">pcl::recognition::Hypothesis</a></div><div class="ttdef"><b>Definition:</b> hypothesis.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_model_library_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_model_library.html">pcl::recognition::ModelLibrary</a></div><div class="ttdef"><b>Definition:</b> model_library.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_graph_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_graph.html">pcl::recognition::ORRGraph</a></div><div class="ttdef"><b>Definition:</b> orr_graph.h:57</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree.html">pcl::recognition::ORROctree</a></div><div class="ttdoc">That's a very specialized and simple octree class. That's the way it is intended to be,...</div><div class="ttdef"><b>Definition:</b> orr_octree.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_o_r_r_octree_z_projection_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_o_r_r_octree_z_projection.html">pcl::recognition::ORROctreeZProjection</a></div><div class="ttdef"><b>Definition:</b> orr_octree_zprojection.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_hypothesis_creator.html">pcl::recognition::ObjRecRANSAC::HypothesisCreator</a></div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:134</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_oriented_point_pair.html">pcl::recognition::ObjRecRANSAC::OrientedPointPair</a></div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:120</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_1_1_output.html">pcl::recognition::ObjRecRANSAC::Output</a></div><div class="ttdoc">This is an output item of the ObjRecRANSAC::recognize() method. It contains the recognized model,...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html">pcl::recognition::ObjRecRANSAC</a></div><div class="ttdoc">This is a RANSAC-based 3D object recognition method. Do the following to use it: (i) call addModel() ...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:87</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a102f82070827aca45838613fb9fc8b12"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a102f82070827aca45838613fb9fc8b12">pcl::recognition::ObjRecRANSAC::getAcceptedHypotheses</a></div><div class="ttdeci">void getAcceptedHypotheses(std::vector&lt; Hypothesis &gt; &amp;out) const</div><div class="ttdoc">This function is useful for testing purposes. It returns the accepted hypotheses generated during the...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a2b709f273c354740177ac81dcad159dc"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a2b709f273c354740177ac81dcad159dc">pcl::recognition::ObjRecRANSAC::ignoreCoplanarPointPairsOff</a></div><div class="ttdeci">void ignoreCoplanarPointPairsOff()</div><div class="ttdoc">Default is on. This method calls the corresponding method of the model library.</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a5ca81e485704d73932f91374e60eaf44"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a5ca81e485704d73932f91374e60eaf44">pcl::recognition::ObjRecRANSAC::groupHypotheses</a></div><div class="ttdeci">int groupHypotheses(std::list&lt; HypothesisBase &gt; &amp;hypotheses, int num_hypotheses, RigidTransformSpace &amp;transform_space, HypothesisOctree &amp;grouped_hypotheses) const</div><div class="ttdoc">Groups close hypotheses in 'hypotheses'. Saves a representative for each group in 'out'....</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a70615881d2c09ecf0d0d3b4c4c5bfb7f"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a70615881d2c09ecf0d0d3b4c4c5bfb7f">pcl::recognition::ObjRecRANSAC::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Removes all models from the model library and releases some memory dynamically allocated by this inst...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:163</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a78ca43f2523164b0121352ee40146b53"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a78ca43f2523164b0121352ee40146b53">pcl::recognition::ObjRecRANSAC::getSampledOrientedPointPairs</a></div><div class="ttdeci">const std::list&lt; ObjRecRANSAC::OrientedPointPair &gt; &amp; getSampledOrientedPointPairs() const</div><div class="ttdoc">This function is useful for testing purposes. It returns the oriented point pairs which were sampled ...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:267</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a7ecbc126044353a48491ed488a87ca52"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a7ecbc126044353a48491ed488a87ca52">pcl::recognition::ObjRecRANSAC::compute_oriented_point_pair_signature</a></div><div class="ttdeci">static void compute_oriented_point_pair_signature(const float *p1, const float *n1, const float *p2, const float *n2, float signature[3])</div><div class="ttdoc">Computes the signature of the oriented point pair ((p1, n1), (p2, n2)) consisting of the angles betwe...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:442</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a8b48737af6ab2551acdacdf54c280e5e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a8b48737af6ab2551acdacdf54c280e5e">pcl::recognition::ObjRecRANSAC::addModel</a></div><div class="ttdeci">bool addModel(const PointCloudIn &amp;points, const PointCloudN &amp;normals, const std::string &amp;object_name, void *user_data=NULL)</div><div class="ttdoc">Add an object model to be recognized.</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:230</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a9aa6b8506fbdd739ac1d25675f7053eb"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9aa6b8506fbdd739ac1d25675f7053eb">pcl::recognition::ObjRecRANSAC::setMaxCoplanarityAngleDegrees</a></div><div class="ttdeci">void setMaxCoplanarityAngleDegrees(float max_coplanarity_angle_degrees)</div><div class="ttdoc">This is a threshold. The larger the value the more point pairs will be considered as co-planar and wi...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:178</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a9be19751af8d03294763ebdbc68a6e3e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9be19751af8d03294763ebdbc68a6e3e">pcl::recognition::ObjRecRANSAC::getAcceptedHypotheses</a></div><div class="ttdeci">const std::vector&lt; Hypothesis &gt; &amp; getAcceptedHypotheses() const</div><div class="ttdoc">This function is useful for testing purposes. It returns the accepted hypotheses generated during the...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_a9ea4a26d7da22856211573917b07d47c"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#a9ea4a26d7da22856211573917b07d47c">pcl::recognition::ObjRecRANSAC::recognize</a></div><div class="ttdeci">void recognize(const PointCloudIn &amp;scene, const PointCloudN &amp;normals, std::list&lt; ObjRecRANSAC::Output &gt; &amp;recognized_objects, double success_probability=0.99)</div><div class="ttdoc">This method performs the recognition of the models loaded to the model library with the method addMod...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_aba2f1dabfef03b560ae9e8c80f2ea9f1"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba2f1dabfef03b560ae9e8c80f2ea9f1">pcl::recognition::ObjRecRANSAC::computeRigidTransform</a></div><div class="ttdeci">void computeRigidTransform(const float *a1, const float *a1_n, const float *b1, const float *b1_n, const float *a2, const float *a2_n, const float *b2, const float *b2_n, float *rigid_transform) const</div><div class="ttdoc">Computes the rigid transform that maps the line (a1, b1) to (a2, b2). The computation is based on the...</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:389</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_aba5a8204aa6114ecd25670cc27c43bba"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#aba5a8204aa6114ecd25670cc27c43bba">pcl::recognition::ObjRecRANSAC::getHashTable</a></div><div class="ttdeci">const pcl::recognition::ModelLibrary::HashTable &amp; getHashTable() const</div><div class="ttdoc">Returns the hash table in the model library.</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:290</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_ad9e4f37a6cd8ac28d03da749d7668b99"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ad9e4f37a6cd8ac28d03da749d7668b99">pcl::recognition::ObjRecRANSAC::ignoreCoplanarPointPairsOn</a></div><div class="ttdeci">void ignoreCoplanarPointPairsOn()</div><div class="ttdoc">Default is on. This method calls the corresponding method of the model library.</div><div class="ttdef"><b>Definition:</b> obj_rec_ransac.h:192</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c_html_ae1a4249f8278de41a34f74b950996986"><div class="ttname"><a href="classpcl_1_1recognition_1_1_obj_rec_r_a_n_s_a_c.html#ae1a4249f8278de41a34f74b950996986">pcl::recognition::ObjRecRANSAC::ObjRecRANSAC</a></div><div class="ttdeci">ObjRecRANSAC(float pair_width, float voxel_size)</div><div class="ttdoc">Constructor with some important parameters which can not be changed once an instance of that class is...</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_rigid_transform_space_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_rigid_transform_space.html">pcl::recognition::RigidTransformSpace</a></div><div class="ttdef"><b>Definition:</b> rigid_transform_space.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_simple_octree_1_1_node_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_simple_octree_1_1_node.html">pcl::recognition::SimpleOctree::Node</a></div><div class="ttdef"><b>Definition:</b> simple_octree.h:61</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_simple_octree_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_simple_octree.html">pcl::recognition::SimpleOctree</a></div><div class="ttdef"><b>Definition:</b> simple_octree.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_trimmed_i_c_p_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_trimmed_i_c_p.html">pcl::recognition::TrimmedICP&lt; pcl::PointXYZ, float &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_voxel_structure_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_voxel_structure.html">pcl::recognition::VoxelStructure&lt; HashTableCell, float &gt;</a></div></div>
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